using Godot;

/// <summary>
/// 机械臂关节信息
/// </summary>
[GlobalClass]
public class RobotJoints
{
    public double J1Angle { get; set; }
    public double J2Angle { get; set; }
    public double J3Angle { get; set; }
    public double J4Angle { get; set; }
    public double J5Angle { get; set; }
    public double J6Angle { get; set; }
    public CartActualPosition cartActualPosition { get; set; }
}

/// <summary>
/// 设计参数
/// </summary>
[GlobalClass]
public class SettingInfo
{
    /// <summary>
    /// 打开轨迹追踪
    /// </summary>
    public bool isTrackOpen { get; set; }
    public bool isCleanTrack { get; set; }
}

/// <summary>
/// 机械臂末端执行器信息
/// </summary>
[GlobalClass]
public class CartActualPosition
{
    /// <summary>
    /// 末端执行器X位置
    /// </summary>
    public double X { get; set; }
    /// <summary>
    /// 末端执行器Y位置
    /// </summary>
    public double Y { get; set; }
    /// <summary>
    /// 末端执行器Z位置
    /// </summary>
    public double Z { get; set; }
    /// <summary>
    /// 末端执行器Rx
    /// </summary>
    public double Rx { get; set; }
    /// <summary>
    /// 末端执行器Ry
    /// </summary>
    public double Ry { get; set; }
    /// <summary>
    /// 末端执行器Rz
    /// </summary>
    public double Rz { get; set; }
}